CN107427187B - Image calibration inspection utensil and endoscopic system - Google Patents
Image calibration inspection utensil and endoscopic system Download PDFInfo
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- CN107427187B CN107427187B CN201680012513.1A CN201680012513A CN107427187B CN 107427187 B CN107427187 B CN 107427187B CN 201680012513 A CN201680012513 A CN 201680012513A CN 107427187 B CN107427187 B CN 107427187B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/246—Calibration of cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
- A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00043—Operational features of endoscopes provided with output arrangements
- A61B1/00045—Display arrangement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00057—Operational features of endoscopes provided with means for testing or calibration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/0006—Working by laser beam, e.g. welding, cutting or boring taking account of the properties of the material involved
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/352—Working by laser beam, e.g. welding, cutting or boring for surface treatment
- B23K26/355—Texturing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/36—Removing material
- B23K26/361—Removing material for deburring or mechanical trimming
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00002—Operational features of endoscopes
- A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
- A61B1/00009—Operational features of endoscopes characterised by electronic signal processing of image signals during a use of endoscope
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00725—Calibration or performance testing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K2101/00—Articles made by soldering, welding or cutting
- B23K2101/20—Tools
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/555—Constructional details for picking-up images in sites, inaccessible due to their dimensions or hazardous conditions, e.g. endoscopes or borescopes
Abstract
Image calibration includes multiple marks (41) of rectangular shape with inspection utensil (4), two vertical sides (V1, V2, H1, H2) are formed by connecting by the multiple curve for being identified by arc-shaped, and each mark includes multiple bumps；And calibrating pattern (40), it is provided with multiple marks (41) by machining, laser marking, etching or line electro-discharge machining on the calibrating pattern face in the cardinal extremity face of calibrating pattern plate, and make two in diagonal direction marks (41) separate as defined in distance and configure, the calibrating pattern plate is formed by the metal that is difficult to get rusty or the resin with heat resistance, chemical-resistant.
Description
Technical field
The present invention relates to the image calibration for the correction for carrying out observing system inspection utensils and endoscopic system.
Background technique
In the past, using the endoscope with the insertion section for being inserted into subject, the endoscope-use is in can be to observation
Person can not be directly visual subject observe.In such endoscope, there is the 3D endoscope of following eyes formula:
It combines two observation images and generates 3D rendering, so as to carry out stereovision to subject.
Such endoscope is calibrated (correction), and the calibration (correction) is for being adjusted, so that by taking the photograph
The image that electronics obtains as device is shown on monitor as the image expected.Especially, 3D endoscope is due to having
Two viewing optical systems in left and right, it is therefore desirable to which the offset of the shooting optical axis of these viewing optical systems is calibrated.
3D endoscope is in the case where being inserted into organism and the therapeutic medical situation such as being checked, treated, with previous endoscope
Similarly, it handles using sterilizations such as preceding progress hydrogen peroxide sterilization, high pressure sterilizations, disappears sometimes due to carrying out the sterilizing
Caused by poison processing under the action of the load such as thermal expansion, cooling, pressure, make the shooting optical axis of two viewing optical systems in left and right
It shifts.
In order to carry out such endoscope shooting optical axis calibration, such as in Japanese Unexamined Patent Publication 2008-104877 bulletin
In there is known following processing units: the image recorded to image pickup device is calibrated, use alternately clathrate (city pine
Mould Specifications shape) calibration matrix (calibration mark) correct intrinsic parameter and external parameter.
It is previous such but in the case where making shooting optical axis shift using preceding progress sterilization processing
Be equipped on endoscope processing unit and to obtain the inspection utensil calibrated of image be also required to it is resistance to sterilization
Property.
Therefore, previous such calibration mark is not used to chromium vapor deposition, pellumina processing, paper printing etc., needs and mistake
The processing of the sterilizations such as hydrogen oxide sterilizing, high pressure sterilization accordingly forms setting by various machinings, laser marking etc.
In the calibration mark for checking utensil.
In addition, when forming the calibration mark for being set to and checking utensil by various machinings, laser marking etc., it is interior
The illumination light of sight glass is calibrated mark diffraction and becomes expanding image, it is possible to can not accurately be calibrated.
Also, when the reflected light in the calibrating pattern face for the inspection utensil for being formed with calibration mark is incident on objective lens optical system
When, there is also can not accurately observe calibration mark by illumination for endoscope light.
Therefore, the present invention be exactly in view of the foregoing and complete, its purpose is to provide with sterilization patience simultaneously
And calibration inspection utensil and the endoscopic system that accurately image can be calibrated.
Summary of the invention
Means for solving the problems
The image calibration of one embodiment of the present invention includes multiple marks of rectangular shape with inspection utensil, described
Two vertical sides are formed by connecting by multiple curves for being identified by arc-shaped, and each mark is comprising multiple recessed
It is convex；And calibrating pattern, by machining, laser marking, etching or line electro-discharge machining in the cardinal extremity face of calibrating pattern plate
Calibrating pattern face on be provided with the multiple mark, and make two in diagonal direction it is described mark separate defined distance
And configure, the calibrating pattern plate is formed by the metal that is difficult to get rusty or the resin with heat resistance, chemical-resistant.
The endoscopic system of one embodiment of the present invention includes image calibration and checks utensil；The front end phase of insertion section
The endoscope detachable with inspection utensil is calibrated for described image；And control unit, according to captured by the endoscope
To described image calibration with inspection utensil the calibrating pattern observation image acquired in the endoscope is corrected,
The image calibration includes multiple marks of rectangular shape, the multiple song for being identified by arc-shaped with inspection utensil
Two vertical sides are formed by connecting by line, and each mark includes multiple bumps；And calibrating pattern, pass through machine
Tool processing, laser marking, etching or line electro-discharge machining are provided with described on the calibrating pattern face in the cardinal extremity face of calibrating pattern plate
Multiple marks, and make two in diagonal direction it is described mark separate as defined in distance and configure, the calibrating pattern plate by
It is difficult to the metal to get rusty or the resin with heat resistance, chemical-resistant is formed.
Invention effect
In accordance with the invention it is possible to provide with sterilization patience and the calibration that can accurately be calibrated to image
With inspection utensil and endoscopic system.
Detailed description of the invention
Fig. 1 is the perspective view for showing the structure of endoscopic system of one embodiment of the present invention.
Fig. 2 is the perspective view for showing the image calibration structure for checking utensil of which.
Fig. 3 is the cross-sectional view for showing the image calibration structure for checking utensil of which.
Fig. 4 is the section view for showing the image calibration structure for checking utensil of the insertion section for being installed on endoscope of which
Figure.
Fig. 5 is the top view for showing the calibrating pattern on the calibrating pattern face for being set to calibrating pattern plate of which.
Fig. 6 is the top view shown in by the calibrating pattern amplification of which.
Fig. 7 is two figures for passing through two viewing optical systems and detected using imaging sensor for showing which
As the figure in region.
Fig. 8 is the figure that the state of intersection point is detected according to two marks for illustrating which.
Fig. 9 is the figure to the acquisition corrected state of image-region for illustrating which.
Figure 10 is for illustrating the different from Fig. 9 to acquisition corrected other an example of image-region of which
Figure.
Figure 11 is for illustrating the different from Fig. 9 and Figure 10 to acquisition image-region corrected other one of which
The figure of example.
Figure 12 is the figure of the state for obtaining two image-region synthesis of which.
Figure 13 is the figure for showing the first case of the mark on the calibrating pattern face for being formed in calibrating pattern plate of which.
Figure 14 is the figure for showing the second case of the mark on the calibrating pattern face for being formed in calibrating pattern plate of which.
Figure 15 is the figure for showing the third example of the mark on the calibrating pattern face for being formed in calibrating pattern plate of which.
Figure 16 is the 4th figure for showing the mark on the calibrating pattern face for being formed in calibrating pattern plate of which.
Specific embodiment
In the following, being illustrated referring to attached drawing to of the invention.
In addition, can know on attached drawing in each figure used in the following description in order to become each structural element
The size of other degree makes scale bar different for each structural element, and the present invention is not limited to these attached drawings and is remembered
Quantity, the size of the shape, structure element of structural element and the relative position of each structural element of the structural element of load
Relationship.
Attached drawing is related to one embodiment of the present invention, and Fig. 1 is the perspective view for showing the structure of endoscopic system, and Fig. 2 is to show
The perspective view of the image calibration structure for checking utensil, Fig. 3 are the cross-sectional view for showing the structure that image calibration checks utensil, figure
4 be the image calibration cross-sectional view for the structure for checking utensil for being shown mounted to the insertion section of endoscope, and Fig. 5 is to show to be set to
The top view of calibrating pattern on the calibrating pattern face of calibrating pattern plate, Fig. 6 are the top view shown in by calibrating pattern amplification, figure
7 be to show the figure of two image-regions for passing through two viewing optical systems and being detected using imaging sensor, and Fig. 8 is to use
The figure of the state of intersection point is detected according to two marks in explanation, Fig. 9 is corrected to image-region is obtained for illustrating
The figure of state, Figure 10 are different from Fig. 9 to the figure for obtaining the corrected other an example of image-region, Tu11Shi for illustrating
Different from Fig. 9 and Figure 10 to the figure for obtaining the corrected other an example of image-region for illustrating, Figure 12 is to obtain two
The figure for the state for taking image-region to synthesize, Figure 13 are show mark on the calibrating pattern face for being formed in calibrating pattern plate first
The figure of example, Figure 14 is the figure for showing the second case of the mark on the calibrating pattern face for being formed in calibrating pattern plate, and Figure 15 is to show
It is formed in the figure of the third example of the mark on the calibrating pattern face of calibrating pattern plate, Figure 16, which is shown, is formed in calibrating pattern plate
4th figure of the mark on calibrating pattern face.
As shown in Figure 1, endoscopic system 1 is configured to endoscope 2, video system center 3 and as calibration inspection
Look into the image calibration inspection utensil 4 of utensil.In addition, endoscope 2 here is that two observation image combinations are generated 3D figure
As the 3D endoscope so as to carry out the eyes formula of stereovision to subject.
Endoscope 2 is configured to have insertion section 11, the operation portion 12 of setting is connect with the cardinal extremity of insertion section and from operation
The universal cable 13 that portion 12 extends.
In insertion section 11, front end 14, bending section 15 and hard pipe portion 16 are connected in turn from front end.In addition, this
In endoscope 2 as on insertion section 11 with hard pipe portion 16 surgery so-called rigid endoscope and carried out example
Show, but not limited to this, is also possible to the flexible so-called soft endoscope in insertion section 11.
Front end 14 is arranged there are two observation window and illuminating window on front end face, two sights incident from two observation windows
It examines light and is arranged at the imaging sensors such as CCD, CMOS of photographic device via multiple objective lens optical systems and detects and (all do not scheme
Show).
There are two bending operation bars 17, the two bending operation bars 17 to receive the operation as doctor for tool on operation portion 12
The operation of person and to the bending section of insertion section 11 15 to as first direction observation as in up and down direction (direction UD) and with
First direction is different, is left and right directions (RL as the observation of second direction as in substantially vertical with first direction here
Direction) it is operated.
Also, the button class 18 for operational observations image such as release switch is provided on operation portion 12.
Video system center 3 is configured to mainly have the function of being equipped on the work of the various endoscopes 2 of control of trolley 20
For control device video processor 21, be built-in with from the illuminating window of the front end of endoscope 2 14 and be irradiated towards subject
Illumination light light source light supply apparatus 22, keyboard 23 and monitor 24.
Video processor 21 as control device is carried out lighting control and be clapped by endoscope 2 to light supply apparatus 22
The image for the subject taken the photograph carries out image procossing and is shown on monitor 24.
In addition, the elongated end in the universal cable 13 of endoscope 2 is provided with and detachably connect with light supply apparatus 22
Light source connector 25.
Being extended from the light source connector 25 has and (is here) two cables 26, distinguishes in the elongated end of these cables 26
It is provided with the electric connector 27 detachably connecting with video processor 21.
In addition, omitting since the internal structure element of the endoscope 2 as 3D endoscope is as in the past to these
The detailed description of structural element.In addition, endoscope 2 is not limited to 3D endoscope, 2D endoscope can also be used.
Next, carrying out following explanation with the structure for checking utensil 4 to image calibration in detail to Fig. 4 according to fig. 2.
As shown in Figures 2 and 3, image calibration checks that utensil 4 is whole and is difficult to the metal to get rusty by stainless steel etc. or is had
Heat resistance, chemical-resistant resin formed so that have high pressure sterilization patience, the image calibration with check utensil 4 constitute
It both sides is provided with the inspection utensil main part 31 of the rectangular shape of opening portion 32, is screwed on the inspection mainly to have
The endoscope connection 33 of the tubular of the base end side in appliance body portion 31 and be screwed on check utensil main part 31 before
The disk-shaped calibrating pattern plate 34 of end wall.
In this way, cleaning is become easy and there are opening portion 32, so as to prevent illumination light from checking appliance body
The unnecessary reflection of the both sides in portion 31.
Endoscope connection 33 is formed at substantially equal intervals in the circumferential and (is here) three opening portions 35, opens at these
The inclined claw 36 of radially inward is respectively arranged in oral area 35.
When the front end of endoscope 2 14 is inserted in endoscope connection 33, these claws 36 are to endoscope connection 33
Outer diameter direction flexible deformation and by the cardinal extremity of front end 14 it is circumferentially locking to by so-called buckle fixed form come mechanically
Fixed (referring to Fig. 4).
In addition, front end 14 is fixed as front end face by endoscope connection 33 and checks the cardinal extremity opening of utensil main part 31
The wall portion 38 as abutting part around portion 37 abuts.In this way, claw 36 is there are 3 points, so as to stablize front end 14
Ground abuts.
It is installed on the front end 14 of the endoscope 2 of image calibration inspection utensil 4 as a result, from front end face to calibrating pattern plate
Defined distance L until 34 is always constant.That is, endoscope 2 be installed on image calibration check utensil 4 when, with school
Defined distance L between the calibrating pattern face 34a of quasi- pattern plate 34 be always it is constant, so as to by shooting be set to
Aftermentioned calibrating pattern 40 on the 34a of calibrating pattern face and the calibration for accurately carrying out obtaining image.
It is screwed in the calibrating pattern plate 34 being disposed on the front end face for checking utensil main part 31 and checks utensil master
When body portion 31, it is set to for two recess portions 39 of jig insertion as positive front end surface side.
As shown in Figure 5 and Figure 6, which is arranged on the calibrating pattern face 34a in the cardinal extremity face as the back side
So-called grid pattern will be arranged in by multiple marks 41 of the rectangular shape of the formation such as machining, laser marking by having
In alternating clathrate as calibration mark calibrating pattern 40.
For each mark 41, the curve for making corner be formed as arc-shaped vertical two sides connection, so that phase
Mark 41 in adjacent diagonal direction is separated from each other defined distance.
Thereby, it is possible to form mark 41 by various machinings, laser marking etc., without in adjacent diagonal side
The shape of the deformation as caused by extruding, edge etc. is generated on the upward mutual corner of mark 41.
That is, being added when wanting to form the mutual corner of mark 41 in adjacent diagonal direction substantially by various machinery
Work, laser marking etc. are come when forming the alternately calibrating pattern 40 of clathrate, the corner of two marks 41 is overlapped, to generate by squeezing
The shape of deformation caused by pressure, edge etc..
In this way, when generating the shape of the deformation as caused by extruding, edge etc. on calibrating pattern 40, the photograph of endoscope 2
Mingguang City is reflected, and desired observation image can not be accurately obtained.Alternatively, corner is extruded, to make the detection accuracy in corner
Deteriorate.
In addition, when the circular arc for increasing the corner for identifying 41 increases the mutual distance of mark 41 in adjacent diagonal direction
When, it identifies 41 linear each side and shortens, so that the detection accuracy of calibrating pattern 40 be made to deteriorate.
In addition, when the mutual corner of mark 41 in adjacent diagonal direction is formed as overlapping, the side of two marks 41
Be not it is linear, the corresponding difference of width with overlapping is produced, therefore lose up rightness, without as calibrating pattern 40
Accurate function.
Therefore, multiple marks 41 of calibrating pattern 40 are formed to become the circular arc that corner is set to optimal radius of curvature
The mode of the shape of shape is formed in the calibrating pattern face 34a of calibrating pattern plate 34 by various machinings, laser marking etc.
On, so that respective linear each side arrangement has up rightness and with can be according to endoscope 2 on straight line
The enough length for observing performance to be detected.
In addition, can not be examined by arranging multiple marks 41 even if leading to the mark 41 of a part because of defect or deterioration etc.
It surveys, can also be detected by other identifier 41.At this point, the size of mark 41 needs to be set to the offset than hypothesis
Greatly, so that being well mistakenly identified as other identifier.
Therefore, the calibrating pattern 40 of multiple marks 41 is arranged with so that there is no the illumination light of endoscope 2 is unnecessarily anti-
The part for the deformation penetrated is formed in the calibration of calibrating pattern plate 34 so as to accurately detect the mode on each side of each mark 41
On pattern plane 34a.
In the following, in detail to the endoscope 2 of the endoscopic system 1 constituted above observation image calibration method into
Row explanation.In addition, illustrating since endoscope 2 here is 3D endoscope to the inclined of the shooting optical axis of viewing optical system
The method of shift-in row calibration.
Firstly, image calibration inspection utensil 4 to be installed on to the front end 14 of the insertion section 11 of endoscope 2.Moreover, passing through
Endoscope 2 come shoot image calibration check utensil 4 calibrating pattern 40.
As shown in fig. 7, the imaging sensor of the photographic device of endoscope 2 is detected for example based on the first observation optical system
First acquisition image-region Img1 of system and second based on the second viewing optical system obtain image-region Img2 and are input to
Video processor 21.
At this point, the control unit in video processor 21 is set, so that cutting out from the first acquisition image-region Img1
The first image-region Cut1 and from second acquisition image-region Img2 cut out the respective center O1 of the second image-region Cut2,
O2 is consistent.
From the state, control unit in video processor 21 is from the first image-region Cut1 and the second image-region Cut2
Select two 41 (A, B) of mark of calibrating pattern 40.
In addition, in the case where there is distortion in the optical characteristics of viewing optical system, from the aspect of calibration accuracy,
The mark 41 to be selected preferably is selected from the mark close to center O1, O2 of respective image-region.
Moreover, as shown in figure 8, control unit is to linear two sides V1, H1 and second identifier 41 of first identifier 41 (A)
(B) two linear sides V2, H2 are detected.
In addition, here, as the program detected to position, to identify the linear respective of 41 (A, B) to two
The mode that is detected of side V1, V2, H1, H2 set the algorithm of cricoid search range S.
Control unit uses the side V1 and second in vertical direction of the cricoid search range S to detect first identifier 41 (A)
Identify the while mark of H1 and second in the horizontal direction of the extended line and first identifier 41 (A) in V2 in the vertical direction of 41 (B)
The position of the vertical intersection point P of the extended line of side H2 in the horizontal direction of 41 (B) of knowledge.
By the detection method, even if image calibration is with checking utensil 4 relative to the position in a rotational direction of endoscope 2
It is not determined, the intersection point P of mark 41 can be also detected by cricoid search range S.
Next, the position of the center O2 of the position of control unit antinode P and the second image-region Cut2 are relative to intersection point P
The offset of position of center O1 of position and the first image-region Cut1 detected and be corrected so that the figure of a side
As region is consistent with the image-region of another party.
Such as shown in figure 9, control unit is corrected to the center O1 and the second image-region Cut2 of the first image-region Cut1
The consistent position center O2 and change from the second position for cutting out acquisition image-region Img2.
In addition, above-mentioned control example is an example, such as can also be as shown in Figure 10, make the first image-region Cut1 and second
Image-region Cut2 is aligned and changes from the position that the first acquisition image-region Img1 is cut out, such as can also be as shown in figure 11,
The position of first image-region Cut1 and the second image-region Cut2 are changed together.
In addition, the amount of cutting out is less, therefore can effectively apply flexibly and cut out range if changing together.
Also, the control example of video processor 21 is illustrated, but not limited to this, such as can also be using such as
Flowering structure: control unit is set on the operation portion 12 of endoscope 2 to carry out above-mentioned control.
In this way, for example as shown in figure 12, video processor 21 is generated the first image-region Cut1 and the second image-region
3D image that Cut2 is synthesized into simultaneously is shown on monitor 24.
In addition, in the above content, being said to the control example of the image calibration of the endoscope 2 as 3D endoscope
It is bright, but the image calibration of 2D endoscope can certainly be carried out with utensil 4 is checked by image calibration.
Here, the multiple marks 41 for forming calibrating pattern 40 are formed to by various machinings, laser marking etc.
It is illustrated in an example on the calibrating pattern face 34a of calibrating pattern plate 34.
As shown in figure 13, preferably multiple marks 41 pass through various machinery on the calibrating pattern face 34a of calibrating pattern plate 34
Work, laser marking etc. and be cut into multiple linear bumps to Formation cross-section triangle, and using the reflection of light and fire (
Color) generate calibrating pattern 40 contrast.
Add that is, being drawn in a manner of reaming the calibrating pattern face 34a for calibrating pattern plate 34 to multiple 41 progress line drawings of mark
Work improves diffraction image caused by the reflection of illumination light as a result, due to making the reflex components of illumination light decay, thus
It can accurately show profile.
Specifically, the illumination light being irradiated in multiple marks 41 is incident on as reflected light R from the observation window of endoscope 2
Objective lens optical system and form reflection image.
At this point, by the concave-convex depth d for being formed as linear section triangle that makes to be formed mark 41 relative to it is interior
The distance L of the observation window of the front end 14 of sight glass 2 is that most preferably can clearly shoot the calibrating pattern based on multiple marks 41
40 contrast is able to carry out accurate image rectification.
In addition, can also be put by etching, line except multiple marks 41 are except through various machinings, laser marking
Electric machining etc. and draw processing using line drawing to be formed.In addition, when forming multiple marks by chromium vapor deposition, black oxidation aluminium film etc.
When 41, cause discoloration because of hydrogen peroxide sterilization, high pressure sterilization to become the desired comparison that can not obtain calibrating pattern 40
The structure of degree.
In addition, for example as shown in figure 14, when multiple marks 41 are simply formed as recess portion shape, vulnerable to based on illumination
The influence of the diffraction of light makes range of the reflected light R beyond mark 41 and is incident on objective lens optical system from the observation window of endoscope 2
And reflection image is formed as expansion picture.
Also, such as shown in figure 15, even if forming the bumps for being formed as linear section triangle of multiple marks 41
Depth d it is excessively shallow, reflected light R also can beyond mark 41 range and be incident on objective lens optical system from the observation window of endoscope 2
And reflection image is formed as expansion picture.
In this way, when being detected in the state of multiple 41 expansions of mark, due to the coordinate of the intersection point P of calibrating pattern 40
It shifts, therefore the correction of accurate image can not be carried out.
Therefore, it as the structure for solving above-mentioned unfavorable condition, uses and is checked in utensil 4 in the image calibration of present embodiment,
It is drawn by machining, laser marking etc. and using relative to the spacing distance L of endoscope 2 for the line drawing of optimal depth d
To form bumps on calibrating pattern 40, so as to clearly shoot the contrast of calibrating pattern 40.
In addition, situation of the mark 41 in addition to being formed as threadiness, such as can also be as shown in figure 16, it is formed with multiple depth d
Coniform recess portion and be formed on the calibrating pattern face 34a of calibrating pattern plate 34 by continuous dotted processing.
In addition, the calibrating pattern face 34a of calibrating pattern plate 34 can use following structure: to formation calibrating pattern 40
Implement the surface treatment such as blasting treatment, bead processing, chemical polishing, roller process and make to shine in part other than multiple marks 41
Mingguang City becomes scattering light to reduce reflection.
As described above, the endoscopic system 1 of present embodiment is such as flowering structure: have by machining,
Laser marking etc. forms calibrating pattern 40 and image calibration corresponding with the sterilizations processing such as hydrogen peroxide sterilization, high pressure sterilization
With utensil 4 is checked, the accurate image calibration of endoscope 2 can be carried out.Therefore, comprising as the calibration image calibration for checking utensil
It is mutatis mutandis to check that the endoscopic system 1 including utensil 4 has sterilization patience and accurately calibrate image.
The invention recorded in above embodiment is not limited to this embodiment and variation, in addition, in implementation phase,
Various modifications can be implemented within the scope of its spirit.Also, in the above-described embodiment, contain the various stages
Invention, by the way that disclosed multiple structure important documents are carried out the extractable various inventions out of combination appropriate.
Even if for example, being also able to solve deleting several structure important documents from all structures important document shown in embodiment
Above-mentioned project and in the case where obtaining above-mentioned effect, delete structure obtained by the structure important document can also be used as invention and
It is extracted.
The application be using September in 2015 25 days Japanese publication Japanese Patent Application 2015-188658 as priority master
Basis and apply, above-mentioned content is cited in present specification, claims and attached drawing.
Claims (7)
1. a kind of image calibration inspection utensil, which is characterized in that the image calibration is included with inspection utensil
Multiple marks of rectangular shape, the multiple curve for being identified by arc-shaped by vertical two sides connection and
At, and each mark includes multiple bumps；And
Calibrating pattern passes through machining, laser marking, etching or line electro-discharge machining in the school in the cardinal extremity face of calibrating pattern plate
It is provided with the multiple mark in quasi- pattern plane, and two in the diagonal direction marks is made to separate defined distance and match
It sets, the calibrating pattern plate is formed by the metal that is difficult to get rusty or the resin with heat resistance, chemical-resistant.
2. image calibration according to claim 1 inspection utensil, which is characterized in that
The mark arrangement for forming the calibrating pattern strikes a bargain for clathrate.
3. image calibration according to claim 1 inspection utensil, which is characterized in that
The mark draws processing by line drawing according to the multiple concave-convex of section triangle shape.
4. image calibration according to claim 1 inspection utensil, which is characterized in that
The mark is according to coniform recess portion and by continuous dotted processing.
5. image calibration according to claim 1 inspection utensil, which is characterized in that image calibration inspection utensil tool
Have:
Main part is provided with the calibrating pattern face；
Endoscope connection is connect with the main part, is detachably installed admittedly for the front end of the insertion section of endoscope
It is fixed；And
Abutting part, in the state that the front end is mounted on the endoscope connection, before the front end
End face abuts and provides the calibrating pattern being formed on the calibrating pattern face and the observation window for being set to the front end
Between defined distance.
6. a kind of endoscopic system, which is characterized in that the endoscopic system includes
Image calibration described in claim 1 inspection utensil；
The endoscope detachable with inspection utensil is calibrated relative to described image in the front end of insertion section；And
Control unit calibrates the calibrating pattern with inspection utensil to institute according to described image taken by the endoscope
Observation image acquired in endoscope is stated to be corrected.
7. endoscopic system according to claim 6, which is characterized in that
The endoscope is that there are two the 3D endoscopes of viewing optical system for tool.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015188658 | 2015-09-25 | ||
| JP2015-188658 | 2015-09-25 | ||
| PCT/JP2016/060061 WO2017051557A1 (en) | 2015-09-25 | 2016-03-29 | Image calibration inspection tool and endoscope system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107427187A CN107427187A (en) | 2017-12-01 |
| CN107427187B true CN107427187B (en) | 2019-08-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680012513.1A Active CN107427187B (en) | 2015-09-25 | 2016-03-29 | Image calibration inspection utensil and endoscopic system |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10574971B2 (en) |
| EP (1) | EP3269291A4 (en) |
| JP (1) | JP6157782B1 (en) |
| CN (1) | CN107427187B (en) |
| WO (1) | WO2017051557A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10716623B2 (en) * | 2016-05-05 | 2020-07-21 | Covidien Lp | Bronchoscope coupler |
| EP3562379B1 (en) * | 2016-12-30 | 2024-01-31 | Barco NV | System and method for camera calibration |
| JP6912313B2 (en) * | 2017-07-31 | 2021-08-04 | パナソニックｉ−ＰＲＯセンシングソリューションズ株式会社 | Image processing device, camera device and image processing method |
| US11298001B2 (en) * | 2018-03-29 | 2022-04-12 | Canon U.S.A., Inc. | Calibration tool for rotating endoscope |
| CN109068121B (en) * | 2018-09-04 | 2019-07-23 | 珠海康弘医疗科技有限公司 | 3-D imaging system, 3-D imaging system calibration method and device |
| US11448497B2 (en) * | 2019-12-18 | 2022-09-20 | The Boeing Company | Systems and methods of determining image scaling |
| JP2021153779A (en) * | 2020-03-26 | 2021-10-07 | 株式会社フジクラ | Endoscope |
| WO2022269817A1 (en) * | 2021-06-23 | 2022-12-29 | オリンパス株式会社 | Calibration device, endoscopic system, calibration method, and calibration program |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3269291A4 (en) | 2018-10-24 |
| US20180007346A1 (en) | 2018-01-04 |
| JPWO2017051557A1 (en) | 2017-09-21 |
| US10574971B2 (en) | 2020-02-25 |
| EP3269291A1 (en) | 2018-01-17 |
| WO2017051557A1 (en) | 2017-03-30 |
| CN107427187A (en) | 2017-12-01 |
| JP6157782B1 (en) | 2017-07-05 |
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